A new clothoidal approach for 3D trajectory generation. Application to 3D tracking

This paper proposes a new approach for trajectory generation using clothoid curves. We obtain a model for 2D trajectories which can be easily generalized to 3D trajectories and used for 3D tracking. The tracking algorithm is obtained directly from this model of trajectories, making out goal point to change in function of time. Our geometric constraints are always the same and we only need to modify the acceleration profile of the robot to obtain different tracking trajectories for the same goal path. Concerning the 3D tracking application, we obtain the trajectories from the same 2D model, by decomposing the 3D problem into two 2D problems.